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            <a href="index.html" class="icon icon-home"> CommonRoad-Collision-Checker
          

          
            
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                2019.1
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              <p class="caption"><span class="caption-text">Contents:</span></p>
<ul>
<li class="toctree-l1"><a class="reference internal" href="user/index.html">User Manual</a><ul>
<li class="toctree-l2"><a class="reference internal" href="user/installation.html">CommonRoad-Collision-Checker</a><ul>
<li class="toctree-l3"><a class="reference internal" href="user/installation.html#system-requirements">System Requirements</a></li>
<li class="toctree-l3"><a class="reference internal" href="user/installation.html#dependencies">Dependencies</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="user/installation.html#installation-of-third-party-libraries">Installation of Third Party Libraries</a></li>
<li class="toctree-l2"><a class="reference internal" href="user/installation.html#installation">Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="user/installation.html#full-installation-with-anaconda">Full Installation with Anaconda</a></li>
<li class="toctree-l3"><a class="reference internal" href="user/installation.html#documentation">Documentation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="user/overview.html">Overview</a><ul>
<li class="toctree-l3"><a class="reference internal" href="user/overview.html#python-wrapper-pycrcc">Python Wrapper pycrcc</a><ul>
<li class="toctree-l4"><a class="reference internal" href="user/overview.html#creating-basic-geometric-shapes">Creating Basic Geometric Shapes</a></li>
<li class="toctree-l4"><a class="reference internal" href="user/overview.html#performing-collision-checks-between-basic-shapes">Performing Collision Checks Between Basic Shapes</a></li>
<li class="toctree-l4"><a class="reference internal" href="user/overview.html#creating-groups-of-shapes">Creating Groups of Shapes</a></li>
<li class="toctree-l4"><a class="reference internal" href="user/overview.html#time-variant-obstacles">Time-variant Obstacles</a></li>
<li class="toctree-l4"><a class="reference internal" href="user/overview.html#creating-a-collision-checker">Creating a Collision Checker</a></li>
<li class="toctree-l4"><a class="reference internal" href="user/overview.html#intersection-between-segments-and-obstacles">Intersection Between Segments and Obstacles</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="user/overview.html#commonroad-io-interface">commonroad-io Interface</a><ul>
<li class="toctree-l4"><a class="reference internal" href="user/overview.html#converting-commonroad-objects-to-collision-objects">Converting CommonRoad Objects to Collision Objects</a></li>
<li class="toctree-l4"><a class="reference internal" href="user/overview.html#creating-a-collision-checker-from-the-scenario">Creating a Collision Checker from the Scenario</a></li>
<li class="toctree-l4"><a class="reference internal" href="user/overview.html#minkowski-sum">Minkowski Sum</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="user/visualization.html">Visualization Manual</a><ul>
<li class="toctree-l3"><a class="reference internal" href="user/visualization.html#importing-draw-object">Importing <code class="docutils literal notranslate"><span class="pre">draw_object</span></code></a></li>
<li class="toctree-l3"><a class="reference internal" href="user/visualization.html#additional-draw-params">Additional <code class="docutils literal notranslate"><span class="pre">draw_params</span></code></a></li>
<li class="toctree-l3"><a class="reference internal" href="user/visualization.html#drawing-shapes">Drawing shapes</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="api/index.html">CommonRoad-Collision-Checker Python API</a><ul>
<li class="toctree-l2"><a class="reference internal" href="api/python_wrapper.html">Python Wrapper pycrcc</a><ul>
<li class="toctree-l3"><a class="reference internal" href="api/python_wrapper.html#point-class"><code class="docutils literal notranslate"><span class="pre">Point</span></code> class</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/python_wrapper.html#rectaabb-class"><code class="docutils literal notranslate"><span class="pre">RectAABB</span></code> class</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/python_wrapper.html#rectobb-class"><code class="docutils literal notranslate"><span class="pre">RectOBB</span></code> class</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/python_wrapper.html#triangle-class"><code class="docutils literal notranslate"><span class="pre">Triangle</span></code> class</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/python_wrapper.html#circle-class"><code class="docutils literal notranslate"><span class="pre">Circle</span></code> class</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/python_wrapper.html#polygon-class"><code class="docutils literal notranslate"><span class="pre">Polygon</span></code> class</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/python_wrapper.html#timevariantcollisionobject-class"><code class="docutils literal notranslate"><span class="pre">TimeVariantCollisionObject</span></code> class</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/python_wrapper.html#shapegroup-class"><code class="docutils literal notranslate"><span class="pre">ShapeGroup</span></code> class</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/python_wrapper.html#collisionchecker-class"><code class="docutils literal notranslate"><span class="pre">CollisionChecker</span></code> class</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="api/commonroad_io.html">commonroad-io Interface</a><ul>
<li class="toctree-l3"><a class="reference internal" href="api/commonroad_io.html#module-commonroad_cc.collision_detection.pycrcc_collision_dispatch">collision_detection</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/commonroad_io.html#module-commonroad_cc.visualization.draw_dispatch">draw_dispatch</a></li>
</ul>
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<h1 id="index">Index</h1>

<div class="genindex-jumpbox">
 <a href="#_"><strong>_</strong></a>
 | <a href="#A"><strong>A</strong></a>
 | <a href="#C"><strong>C</strong></a>
 | <a href="#D"><strong>D</strong></a>
 | <a href="#F"><strong>F</strong></a>
 | <a href="#L"><strong>L</strong></a>
 | <a href="#M"><strong>M</strong></a>
 | <a href="#N"><strong>N</strong></a>
 | <a href="#O"><strong>O</strong></a>
 | <a href="#P"><strong>P</strong></a>
 | <a href="#R"><strong>R</strong></a>
 | <a href="#S"><strong>S</strong></a>
 | <a href="#T"><strong>T</strong></a>
 | <a href="#U"><strong>U</strong></a>
 | <a href="#V"><strong>V</strong></a>
 | <a href="#W"><strong>W</strong></a>
 | <a href="#X"><strong>X</strong></a>
 | <a href="#Y"><strong>Y</strong></a>
 
</div>
<h2 id="_">_</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
  <td style="width: 33%; vertical-align: top;"><ul>
      <li><a href="api/python_wrapper.html#pycrcc.Circle.__init__">__init__() (pycrcc.Circle method)</a>

      <ul>
        <li><a href="api/python_wrapper.html#pycrcc.CollisionChecker.__init__">(pycrcc.CollisionChecker method)</a>
</li>
        <li><a href="api/python_wrapper.html#pycrcc.Point.__init__">(pycrcc.Point method)</a>
</li>
        <li><a href="api/python_wrapper.html#pycrcc.Polygon.__init__">(pycrcc.Polygon method)</a>
</li>
        <li><a href="api/python_wrapper.html#pycrcc.RectAABB.__init__">(pycrcc.RectAABB method)</a>
</li>
        <li><a href="api/python_wrapper.html#pycrcc.RectOBB.__init__">(pycrcc.RectOBB method)</a>
</li>
        <li><a href="api/python_wrapper.html#pycrcc.ShapeGroup.__init__">(pycrcc.ShapeGroup method)</a>
</li>
        <li><a href="api/python_wrapper.html#pycrcc.TimeVariantCollisionObject.__init__">(pycrcc.TimeVariantCollisionObject method)</a>
</li>
        <li><a href="api/python_wrapper.html#pycrcc.Triangle.__init__">(pycrcc.Triangle method)</a>
</li>
      </ul></li>
  </ul></td>
  <td style="width: 33%; vertical-align: top;"><ul>
      <li><a href="api/python_wrapper.html#pycrcc.CollisionChecker.__str__">__str__() (pycrcc.CollisionChecker method)</a>

      <ul>
        <li><a href="api/python_wrapper.html#pycrcc.Polygon.__str__">(pycrcc.Polygon method)</a>
</li>
        <li><a href="api/python_wrapper.html#pycrcc.RectAABB.__str__">(pycrcc.RectAABB method)</a>
</li>
        <li><a href="api/python_wrapper.html#pycrcc.RectOBB.__str__">(pycrcc.RectOBB method)</a>
</li>
        <li><a href="api/python_wrapper.html#pycrcc.Triangle.__str__">(pycrcc.Triangle method)</a>
</li>
      </ul></li>
  </ul></td>
</tr></table>

<h2 id="A">A</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
  <td style="width: 33%; vertical-align: top;"><ul>
      <li><a href="api/python_wrapper.html#pycrcc.CollisionChecker.add_collision_object">add_collision_object() (pycrcc.CollisionChecker method)</a>
</li>
      <li><a href="api/python_wrapper.html#pycrcc.ShapeGroup.add_shape">add_shape() (pycrcc.ShapeGroup method)</a>
</li>
  </ul></td>
  <td style="width: 33%; vertical-align: top;"><ul>
      <li><a href="api/python_wrapper.html#pycrcc.CollisionChecker.any_collides">any_collides() (pycrcc.CollisionChecker method)</a>
</li>
      <li><a href="api/python_wrapper.html#pycrcc.TimeVariantCollisionObject.append_obstacle">append_obstacle() (pycrcc.TimeVariantCollisionObject method)</a>
</li>
  </ul></td>
</tr></table>

<h2 id="C">C</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
  <td style="width: 33%; vertical-align: top;"><ul>
      <li><a href="api/python_wrapper.html#pycrcc.Circle.center">center() (pycrcc.Circle method)</a>

      <ul>
        <li><a href="api/python_wrapper.html#pycrcc.Point.center">(pycrcc.Point method)</a>
</li>
        <li><a href="api/python_wrapper.html#pycrcc.RectOBB.center">(pycrcc.RectOBB method)</a>
</li>
      </ul></li>
      <li><a href="api/python_wrapper.html#pycrcc.Circle">Circle (class in pycrcc)</a>
</li>
      <li><a href="api/python_wrapper.html#pycrcc.Circle.collide">collide() (pycrcc.Circle method)</a>

      <ul>
        <li><a href="api/python_wrapper.html#pycrcc.CollisionChecker.collide">(pycrcc.CollisionChecker method)</a>
</li>
        <li><a href="api/python_wrapper.html#pycrcc.Point.collide">(pycrcc.Point method)</a>
</li>
        <li><a href="api/python_wrapper.html#pycrcc.Polygon.collide">(pycrcc.Polygon method)</a>
</li>
        <li><a href="api/python_wrapper.html#pycrcc.RectAABB.collide">(pycrcc.RectAABB method)</a>
</li>
        <li><a href="api/python_wrapper.html#pycrcc.RectOBB.collide">(pycrcc.RectOBB method)</a>
</li>
        <li><a href="api/python_wrapper.html#pycrcc.ShapeGroup.collide">(pycrcc.ShapeGroup method)</a>
</li>
        <li><a href="api/python_wrapper.html#pycrcc.TimeVariantCollisionObject.collide">(pycrcc.TimeVariantCollisionObject method)</a>
</li>
        <li><a href="api/python_wrapper.html#pycrcc.Triangle.collide">(pycrcc.Triangle method)</a>
</li>
      </ul></li>
  </ul></td>
  <td style="width: 33%; vertical-align: top;"><ul>
      <li><a href="api/python_wrapper.html#pycrcc.CollisionChecker">CollisionChecker (class in pycrcc)</a>
</li>
      <li><a href="api/commonroad_io.html#module-commonroad_cc.collision_detection.pycrcc_collision_dispatch">commonroad_cc.collision_detection.pycrcc_collision_dispatch (module)</a>
</li>
      <li><a href="api/commonroad_io.html#module-commonroad_cc.visualization.draw_dispatch">commonroad_cc.visualization.draw_dispatch (module)</a>
</li>
      <li><a href="api/commonroad_io.html#commonroad_cc.collision_detection.pycrcc_collision_dispatch.create_collision_checker">create_collision_checker() (in module commonroad_cc.collision_detection.pycrcc_collision_dispatch)</a>
</li>
      <li><a href="api/commonroad_io.html#commonroad_cc.collision_detection.pycrcc_collision_dispatch.create_collision_object">create_collision_object() (in module commonroad_cc.collision_detection.pycrcc_collision_dispatch)</a>
</li>
  </ul></td>
</tr></table>

<h2 id="D">D</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
  <td style="width: 33%; vertical-align: top;"><ul>
      <li><a href="api/commonroad_io.html#commonroad_cc.visualization.draw_dispatch.draw_object">draw_object() (in module commonroad_cc.visualization.draw_dispatch)</a>
</li>
  </ul></td>
</tr></table>

<h2 id="F">F</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
  <td style="width: 33%; vertical-align: top;"><ul>
      <li><a href="api/python_wrapper.html#pycrcc.CollisionChecker.find_all_colliding_objects">find_all_colliding_objects() (pycrcc.CollisionChecker method)</a>
</li>
  </ul></td>
</tr></table>

<h2 id="L">L</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
  <td style="width: 33%; vertical-align: top;"><ul>
      <li><a href="api/python_wrapper.html#pycrcc.RectOBB.local_x_axis">local_x_axis() (pycrcc.RectOBB method)</a>
</li>
  </ul></td>
  <td style="width: 33%; vertical-align: top;"><ul>
      <li><a href="api/python_wrapper.html#pycrcc.RectOBB.local_y_axis">local_y_axis() (pycrcc.RectOBB method)</a>
</li>
  </ul></td>
</tr></table>

<h2 id="M">M</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
  <td style="width: 33%; vertical-align: top;"><ul>
      <li><a href="api/python_wrapper.html#pycrcc.RectAABB.max_x">max_x() (pycrcc.RectAABB method)</a>
</li>
      <li><a href="api/python_wrapper.html#pycrcc.RectAABB.max_y">max_y() (pycrcc.RectAABB method)</a>
</li>
  </ul></td>
  <td style="width: 33%; vertical-align: top;"><ul>
      <li><a href="api/python_wrapper.html#pycrcc.RectAABB.min_x">min_x() (pycrcc.RectAABB method)</a>
</li>
      <li><a href="api/python_wrapper.html#pycrcc.RectAABB.min_y">min_y() (pycrcc.RectAABB method)</a>
</li>
  </ul></td>
</tr></table>

<h2 id="N">N</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
  <td style="width: 33%; vertical-align: top;"><ul>
      <li><a href="api/python_wrapper.html#pycrcc.CollisionChecker.number_of_obstacles">number_of_obstacles() (pycrcc.CollisionChecker method)</a>
</li>
  </ul></td>
</tr></table>

<h2 id="O">O</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
  <td style="width: 33%; vertical-align: top;"><ul>
      <li><a href="api/python_wrapper.html#pycrcc.TimeVariantCollisionObject.obstacle_at_time">obstacle_at_time() (pycrcc.TimeVariantCollisionObject method)</a>
</li>
      <li><a href="api/python_wrapper.html#pycrcc.CollisionChecker.obstacles">obstacles() (pycrcc.CollisionChecker method)</a>
</li>
  </ul></td>
  <td style="width: 33%; vertical-align: top;"><ul>
      <li><a href="api/python_wrapper.html#pycrcc.ShapeGroup.overlap">overlap() (pycrcc.ShapeGroup method)</a>
</li>
      <li><a href="api/python_wrapper.html#pycrcc.ShapeGroup.overlap_map">overlap_map() (pycrcc.ShapeGroup method)</a>
</li>
  </ul></td>
</tr></table>

<h2 id="P">P</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
  <td style="width: 33%; vertical-align: top;"><ul>
      <li><a href="api/python_wrapper.html#pycrcc.Point">Point (class in pycrcc)</a>
</li>
  </ul></td>
  <td style="width: 33%; vertical-align: top;"><ul>
      <li><a href="api/python_wrapper.html#pycrcc.Polygon">Polygon (class in pycrcc)</a>
</li>
      <li><a href="api/python_wrapper.html#module-pycrcc">pycrcc (module)</a>
</li>
  </ul></td>
</tr></table>

<h2 id="R">R</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
  <td style="width: 33%; vertical-align: top;"><ul>
      <li><a href="api/python_wrapper.html#pycrcc.Circle.r">r() (pycrcc.Circle method)</a>
</li>
      <li><a href="api/python_wrapper.html#pycrcc.RectOBB.r_x">r_x() (pycrcc.RectOBB method)</a>
</li>
      <li><a href="api/python_wrapper.html#pycrcc.RectOBB.r_y">r_y() (pycrcc.RectOBB method)</a>
</li>
  </ul></td>
  <td style="width: 33%; vertical-align: top;"><ul>
      <li><a href="api/python_wrapper.html#pycrcc.CollisionChecker.raytrace">raytrace() (pycrcc.CollisionChecker method)</a>
</li>
      <li><a href="api/python_wrapper.html#pycrcc.RectAABB">RectAABB (class in pycrcc)</a>
</li>
      <li><a href="api/python_wrapper.html#pycrcc.RectOBB">RectOBB (class in pycrcc)</a>
</li>
  </ul></td>
</tr></table>

<h2 id="S">S</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
  <td style="width: 33%; vertical-align: top;"><ul>
      <li><a href="api/python_wrapper.html#pycrcc.RectAABB.set_all">set_all() (pycrcc.RectAABB method)</a>
</li>
      <li><a href="api/python_wrapper.html#pycrcc.RectOBB.set_center">set_center() (pycrcc.RectOBB method)</a>
</li>
  </ul></td>
  <td style="width: 33%; vertical-align: top;"><ul>
      <li><a href="api/python_wrapper.html#pycrcc.ShapeGroup">ShapeGroup (class in pycrcc)</a>
</li>
      <li><a href="api/python_wrapper.html#pycrcc.ShapeGroup.size">size() (pycrcc.ShapeGroup method)</a>
</li>
  </ul></td>
</tr></table>

<h2 id="T">T</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
  <td style="width: 33%; vertical-align: top;"><ul>
      <li><a href="api/python_wrapper.html#pycrcc.TimeVariantCollisionObject.time_end_idx">time_end_idx() (pycrcc.TimeVariantCollisionObject method)</a>
</li>
      <li><a href="api/python_wrapper.html#pycrcc.CollisionChecker.time_slice">time_slice() (pycrcc.CollisionChecker method)</a>
</li>
      <li><a href="api/python_wrapper.html#pycrcc.TimeVariantCollisionObject.time_start_idx">time_start_idx() (pycrcc.TimeVariantCollisionObject method)</a>
</li>
  </ul></td>
  <td style="width: 33%; vertical-align: top;"><ul>
      <li><a href="api/python_wrapper.html#pycrcc.TimeVariantCollisionObject">TimeVariantCollisionObject (class in pycrcc)</a>
</li>
      <li><a href="api/python_wrapper.html#pycrcc.Triangle">Triangle (class in pycrcc)</a>
</li>
      <li><a href="api/python_wrapper.html#pycrcc.Polygon.triangle_mesh">triangle_mesh() (pycrcc.Polygon method)</a>
</li>
  </ul></td>
</tr></table>

<h2 id="U">U</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
  <td style="width: 33%; vertical-align: top;"><ul>
      <li><a href="api/python_wrapper.html#pycrcc.ShapeGroup.unpack">unpack() (pycrcc.ShapeGroup method)</a>
</li>
  </ul></td>
</tr></table>

<h2 id="V">V</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
  <td style="width: 33%; vertical-align: top;"><ul>
      <li><a href="api/python_wrapper.html#pycrcc.Polygon.vertices">vertices() (pycrcc.Polygon method)</a>

      <ul>
        <li><a href="api/python_wrapper.html#pycrcc.Triangle.vertices">(pycrcc.Triangle method)</a>
</li>
      </ul></li>
  </ul></td>
</tr></table>

<h2 id="W">W</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
  <td style="width: 33%; vertical-align: top;"><ul>
      <li><a href="api/python_wrapper.html#pycrcc.CollisionChecker.window_query">window_query() (pycrcc.CollisionChecker method)</a>
</li>
  </ul></td>
</tr></table>

<h2 id="X">X</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
  <td style="width: 33%; vertical-align: top;"><ul>
      <li><a href="api/python_wrapper.html#pycrcc.Circle.x">x() (pycrcc.Circle method)</a>
</li>
  </ul></td>
</tr></table>

<h2 id="Y">Y</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
  <td style="width: 33%; vertical-align: top;"><ul>
      <li><a href="api/python_wrapper.html#pycrcc.Circle.y">y() (pycrcc.Circle method)</a>
</li>
  </ul></td>
</tr></table>



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